Baumer_GCA3-5-8-12-20_CANopen_MA_EN_Rev10.docx 15/23 Baumer – Sensor Systems s.r.l.
03.12.2019 Chiari (Bs), Italy
7 Emergency Service
7.1 General
If there is an error on the device, the device commits an emergency message and sets the corresponding bits in the error
register (Object 1001h).
Error codes are accessible by the error field (object 1003h-x). A history of maximal 8 error codes is stored in the error
field.
7.2 COB-ID
The COB-ID for the emergency message can be modified in object 1014h.
Default Value: 80h + node ID
Changes will be applied immediately.
The COB-ID is stored internally as a difference to the default COB-ID. Example:
Node ID: 4 COB-ID Emergency: 84h (Default value)
COB-ID Emergency: 87h (Changed by user)
Node ID: 9 COB-ID Emergency: 89h (Adapted automatic)
7.3 Emergency message
The emergency message is transmitted if an error is indicated in the error register.
7.4.1 Communication error
Communication errors are indicated if the internal CAN message buffers are overflowed or there are malformed CAN
frames on the bus. After a communication error the device changes to pre-operational mode.
7.4.2 Generic error
A generic error is indicated for all other errors.
An encoder specific alarm or warning will also cause a generic error.
After a generic error the device changes to pre-operational mode.
7.5 Error codes / EMCY messages
The following error codes are generated by the device:
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